Robust Force Control Strategy based on Virtual Environment

Abstract : The main goal of this paper is to present a force control strategy based on the Virtual Environment concept. This concept is a way to increase the robustness of force control schemes with respect to a variation of the environment characteristics. We first propose this approach, then we analyze it, and finally we adapt it to a classical external force control scheme. Experimental results with a DELTA fast parallel robot are presented to prove the efficiency of this method.
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Article dans une revue
Advanced Robotics, Taylor & Francis, 2007, 21, pp.485-498. 〈10.1163/156855307780132018〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00139499
Contributeur : Philippe Fraisse <>
Soumis le : samedi 31 mars 2007 - 16:07:21
Dernière modification le : jeudi 11 janvier 2018 - 06:26:07

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Philippe Fraisse, François Pierrot, Pierre Dauchez. Robust Force Control Strategy based on Virtual Environment. Advanced Robotics, Taylor & Francis, 2007, 21, pp.485-498. 〈10.1163/156855307780132018〉. 〈lirmm-00139499〉

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